High-overturning and different-clearance double-steel-wheel harmonic reducer structure

Abstract

The invention provides a high-overturning and different-clearance double-steel-wheel harmonic reducer structure, and belongs to the technical field of harmonic reducer accessories, the high-overturning and different-clearance double-steel-wheel harmonic reducer structure comprises a wave generator, a thin-wall flexible wheel is arranged on the outer side of the wave generator, the wave generator and the thin-wall flexible wheel are connected through a pair of rotary connecting pieces, and a rigid wheel S and a rigid wheel D are arranged on the outer side of the thin-wall flexible wheel; the rigid wheel S and the rigid wheel D are arranged side by side, and double-row crossed rollers are arranged on the outer sides of the rigid wheel S and the rigid wheel D. The invention solves the problem that the precision and torque requirements of different working conditions of an industrial robot, a humanoid robot and the like cannot be met under the prospect that the current robot market application scene is wider and wider because the double-rigid-wheel crossed roller of the existing harmonic reducer is a single-row roller and the clearance of a movable rigid wheel and a fixed rigid wheel is kept consistent.

Description

Technical Field

[0001] This invention belongs to the technical field of harmonic reducer accessories, specifically relating to a double steel wheel harmonic reducer structure with high overturning and different clearances. Background Technology

[0002] Harmonic reducers (also known as harmonic drive reducers) are high-precision gear transmission devices that utilize the elastic deformation of flexible gears to transmit power. They mainly consist of three core components: a wave generator, a flexible gear, and a rigid gear.

[0003] The existing harmonic reducer uses a single-row cross roller for its dual rigid wheel. This roller design has a problem: the clearance between the moving and stationary rigid wheels is kept consistent. Given the increasingly widespread application scenarios in the current robot market, this design can no longer meet the precision and torque requirements of industrial robots and humanoid robots in different working conditions. Summary of the Invention

[0004] This invention provides a high-overturning-range double steel wheel harmonic reducer structure with different clearances. Its purpose is to solve the problem that the existing harmonic reducers have a single row of cross rollers for the double steel wheels, and the clearances of the moving and fixed steel wheels are consistent. In the current prospect of increasingly widespread application scenarios in the robot market, this can no longer meet the accuracy and torque requirements of industrial robots and humanoid robots in different working conditions.

[0005] This invention provides a high-overturning-rate double steel wheel harmonic reducer structure with different clearances, including a wave generator. A thin-walled flexible wheel is installed on the outside of the wave generator. The wave generator and the thin-walled flexible wheel are connected by a pair of rotating connectors. Rigid wheels S and D are installed on the outside of the thin-walled flexible wheel. Rigid wheels S and D are arranged side by side. Double rows of crossed rollers are installed on the outside of rigid wheels S and D.

[0006] Furthermore, the rotary connector includes: Outer ring; The cylinder is screwed into the outer ring, and an inner ring is installed inside the cylinder. Multiple steel balls and a retaining seat that constrains the steel balls are installed between the cylinder and the inner ring. The connecting rods are provided in multiple ways, and multiple movable ports are reserved on the cylinder. Each connecting rod is screwed into the adjacent movable port. The isolation plates are installed in pairs in a mirror image, with each isolation plate fixedly connected to multiple adjacent connecting rods; Multiple isolation ends are mirrored on both sides of the inner ring. Multiple isolation ends are installed on the side of the isolation plate closest to the inner ring. Multiple isolation ends 1 and multiple isolation ends 2 on the same side of the inner ring are arranged alternately. Both isolation ends 1 and isolation ends 2 are tilted towards the inside of the inner ring to prevent external debris from moving into the space between the cylinder and the inner ring. There are gaps between the isolation ends 2 and the inner ring, and between the isolation ends 1 and the isolation plate to remove the obstruction between the inner ring and the isolation plate. The rotary connector also includes: a ring-shaped protrusion, which is provided in multiple forms, each installed in an adjacent movable opening; Multiple annular protrusions are provided, each fixedly connected to an adjacent connecting rod, and the annular protrusions cooperate with the adjacent movable openings; The rotary connector also includes: multiple constraint rods, all fixedly connected to the cylinder; The number of arched constraint platforms is equal to the number of constraint rods, and each arched constraint platform is constrained by its own adjacent constraint rod. Multiple constraint bars are fixed to the outer ring. The constraint bars and the arched constraint platform are located on both sides of the corresponding constraint rod. The constraint bars and the adjacent constraint rods constrain each other. Display bars are installed on both the outer ring and the cylinder to mark the corresponding positions of the outer ring and the cylinder.

[0007] Furthermore, inner and outer side walls are respectively installed on the cylinder and the inner ring. Arched wall one and arched wall two are respectively installed on the inner and outer side walls. Ditch one and ditch two are reserved in the center of arched wall one and arched wall two, respectively.

[0008] Furthermore, the arched surfaces of the cross-sections of arched wall one and arched wall two are aligned with the surface of the steel ball to increase the contact range between the steel ball and arched wall one and arched wall two.

[0009] Furthermore, the bends between the inner side wall and the arched wall, between the first arched wall and the ditch, between the outer side wall and the second arched wall, and between the second arched wall and the second ditch are all arched.

[0010] Furthermore, the rotary connector also includes a maintenance unit installed on the cylinder and the inner ring for automatic maintenance of the rotary connector.

[0011] Furthermore, the maintenance unit includes an oil reservoir cavity pre-embedded in the inner wall of the cylinder, annular capillary channels pre-embedded on both vertical sides inside the cylinder, pressure blocks two fixed to both vertical sides of the inner ring, and multiple oil spray capillary holes pre-embedded on the arched wall one. A rubber block is movably installed in the oil reservoir cavity. The cavity to the left of the rubber block is filled with engine oil. The oil reservoir cavity and the rubber block are compatible with each other. The bottom wall of the oil reservoir cavity and the bottom wall of the rubber block are connected by multiple spiral beryllium copper wires. The cavity to the left of the rubber block is connected to the annular capillary channels through channel one. A check switch one is installed in channel one, which allows the engine oil in the oil reservoir cavity to flow into the annular capillary channels. In the middle, the oil reservoir is located in the cavity on the left side of the rubber block and is connected to the first channel via the second channel. The second channel is equipped with a check switch, which allows the oil in the first channel to flow into the cavity on the left side of the rubber block. A pair of pressure blocks are mirrored on both sides of the vertical sides of the rubber block. The pressure blocks are movable and penetrate the cylinder. Both sides of the pressure block 1 that protrudes from the cylinder have pre-reserved inclined walls. Both sides of the pressure block 2 that face the cylinder have pre-reserved inclined walls. The inclined walls on the pressure block 1 and the corresponding inclined walls on the pressure block 2 cooperate with each other. The pressure block 1 is on the rotation trajectory of the pressure block 2. The oil injection capillary orifice is connected to the annular capillary channel. The oil injection capillary orifice is inclined towards the steel ball.

[0012] The beneficial effects of this invention are as follows: 1. The two rows of rollers in the double-row cross rollers of this invention are located on both sides, making the force on the reducer more balanced and helping to reduce the force on the teeth. At the same time, the clearance on both sides of the rollers can be adjusted separately. Because there is a certain span between the two rows of roller grooves, the ability to withstand axial overturning force is improved, and the rigidity and torque of the reducer can meet the needs of different customers.

[0013] 2. The present invention uses a rotating connector to assemble the isolation plate by inserting the connecting rod into the adjacent movable opening, thereby making the assembly and disassembly of the isolation plate simpler and facilitating the repair of the rotating connector. Furthermore, the mutual restraint between the first and second annular protrusions ensures the stable assembly of the isolation plate and prevents it from falling off during operation. By having staggered isolation ends one and two cooperate with each other, debris is prevented from falling between the cylinder and the inner ring, thus ensuring the leak-proof function of the flexible rotating connector. Furthermore, the isolation plate is separated from the inner ring, thereby removing the obstruction between the isolation plate and the inner ring and allowing the rotating connector to work for a long time. When the steel ball is damaged and cannot move, an obstruction is created between the steel ball and the cylinder, causing the cylinder to rotate. This makes it easier for staff to check whether the rotating connection is damaged and needs repair, reducing the time spent by staff on repairing the rotating connection.

[0014] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a first-view three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a second-view three-dimensional structural diagram of an embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of the rotating connector according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the disassembled structure of the rotating connector according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the outer ring and the cylinder cross-section according to an embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the inner ring and the isolation plate in an embodiment of the present invention; Figure 7 This is a schematic diagram of the two-dimensional structure of the connecting rod and the ring-shaped protrusion according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the constraint rod and the arched constraint platform according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the maintenance unit structure according to an embodiment of the present invention; Figure 10 This is an embodiment of the present invention. Figure 9 A magnified structural diagram at point A; Figure 11 This is a schematic diagram of the main view of the cylindrical body and inner ring cross-section according to an embodiment of the present invention; Figure 12 This is an embodiment of the present invention. Figure 11 A magnified structural diagram at point B; Reference numerals: 1. Wave generator; 2. Thin-walled flexible wheel; 3. Rotary connector; 4. Rigid wheel S; 5. Rigid wheel D; 6. Double-row crossed rollers; 31. Outer ring; 32. Cylinder; 321. Movable opening; 322. Ring-shaped protrusion one; 323. Inner side wall; 324. Arched wall one; 325. Groove one; 33. Inner ring; 331. Outer side wall; 332. Arched wall two; 333. Groove two; 334. Isolation end one; 34. Connecting rod; 341. Two circular protrusions; 35. Isolation plate; 351. Two isolation ends; 36. Constraint rod; 37. Arched constraint platform; 38. Constraint strip; 39. Oil reservoir; 310. Rubber block; 311. Spiral beryllium copper wire; 312. One pressure block; 313. Annular capillary channel; 314. Channel one; 315. Check switch one; 316. Channel two; 317. Check switch two; 318. Two pressure blocks; 319. Oil injection capillary orifice. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention. Example

[0017] Reference Figures 1-2 This invention proposes a high-overturning and different clearance double steel wheel harmonic reducer structure, including a wave generator 1, a thin-walled flexible wheel 2 installed on the outside of the wave generator 1, the wave generator 1 and the thin-walled flexible wheel 2 are connected by a pair of rotating connectors 3, a rigid wheel S4 and a rigid wheel D5 are installed on the outside of the thin-walled flexible wheel 2, the rigid wheels S4 and D5 are arranged side by side, and a double row of crossed rollers 6 are installed on the outside of the rigid wheels S4 and D5.

[0018] The reducer can transmit power to the thin-walled flexible wheel 2 through the rotating connector 3 on the wave generator 1. After the long and short axes of the wave generator 1 are stretched into an ellipse, the teeth of the rigid wheel and the thin-walled flexible wheel 2 form four meshing states, which are respectively meshing, separating, engaging, or disengaging. Driven by the motor power, the changes are repeated cyclically. The number of teeth of the rigid and flexible wheels have different speed ratios (such as 30, 50, 80, etc.), thereby achieving a speed reduction effect and obtaining output torque.

[0019] By separating the rollers on both sides to one side of the moving and fixed rigid wheels, it is ensured that the rollers on both sides can play a supporting role and protect the harmonic gears under force after the harmonic reducer is subjected to force, and can provide sufficient rigidity to match different working conditions of the robot. Example

[0020] Reference Figures 3-8 The difference from the above embodiments is that the rotating connector 3 includes: Outer ring 31 is connected to thin-walled flexible wheel 2; The cylinder 32 is screwed into the outer ring 31. An inner ring 33 is installed in the cylinder 32 and is connected to the wave generator 1. Multiple steel balls and a retaining seat for constraining the steel balls are installed between the cylinder 32 and the inner ring 33. Multiple connecting rods 34 are provided. Multiple movable ports 321 are reserved on the cylinder 32. Each of the multiple connecting rods 34 is screwed into the adjacent movable port 321. A pair of isolation plates 35 are installed in mirror image. Each isolation plate 35 is fixed to the adjacent multiple connecting rods 34.

[0021] To facilitate the assembly and disassembly of the isolation plate 35, and for the regular maintenance or repair of the rotating connector 3, the outer ring 31 and the cylinder 32 are assembled vertically to facilitate the assembly between the outer ring 31 and the cylinder 32. Multiple movable openings 321 are reserved on both vertical sides of the cylinder 32. Multiple connecting rods 34 at the top are fixed to an isolation plate 35, and multiple connecting rods 34 at the bottom are fixed to an isolation plate 35. The vertical pair of isolation plates 35 are mirror images of each other. The isolation plate 35 is used to prevent external debris from moving into the space between the cylinder 32 and the inner ring 33.

[0022] Multiple isolation ends 334 are mirror-mounted on both vertical sides of the inner ring 33. Multiple isolation ends 351 are mounted on the side of the isolation plate 35 closest to the inner ring 33. The multiple isolation ends 334 and multiple isolation ends 351 on the same side of the inner ring 33 are arranged alternately. Both isolation ends 334 and isolation ends 351 are tilted towards the inside of the inner ring 33 to prevent external debris from moving into the space between the cylinder 32 and the inner ring 33. There are gaps between the isolation ends 351 and the inner ring 33, and between the isolation ends 334 and the isolation plate 35 to remove the obstruction between the inner ring 33 and the isolation plate 35.

[0023] To prevent debris from moving into the gap between the cylinder 32 and the inner ring 33, and to eliminate the obstruction between the inner ring 33 and the isolation plate 35, multiple vertically mirror-arranged isolation ends 334 are installed on the inner ring 33. The isolation ends 334 are circular, with the radius of the isolation end 334 furthest from the isolation plate 35 being larger than the radius of the isolation end 334 closest to the isolation plate 35. A pair of isolation ends 334 on the same side are positioned on the same horizontal plane and are separated, with unequal radii. Isolation ends 351 are also circular, with the radius of the isolation end 351 furthest from the inner ring 33 being larger than the radius of the isolation end 351 closest to the inner ring 33. A pair of isolation ends 351 on the same side of the isolation plate 35... The two isolation ends 334 and 351 are located on the same horizontal plane and are separated from each other, and their radii are not equal. The radii of the isolation ends 334 and 351 gradually increase from the inside to the outside. The adjacent isolation ends 334 and 351 are separated from each other. When the rotating connector 3 is working, it is in an upright position. When the debris falls into the inside of the isolation plate 35, the debris is blocked by the isolation ends 351. The areas of the isolation ends 334 and 351 at the bottom are tilted upwards, so that the debris cannot continue to move towards the side between the cylinder 32 and the inner ring 33.

[0024] Inner sidewall 323 and outer sidewall 331 are respectively installed on the cylinder 32 and the inner ring 33. Arched wall 1 324 and arched wall 2 332 are respectively installed on the inner sidewall 323 and the outer sidewall 331. The center of arched wall 1 324 and the center of arched wall 2 332 are respectively reserved with groove 1 325 and groove 2 333. The arched surface of the cross surface of arched wall 1 324 and arched wall 2 332 fits into the surface of the steel ball to increase the contact range between the steel ball and arched wall 1 324 and arched wall 2 332. The bend between inner sidewall 323 and arched wall 1 324, the bend between arched wall 1 324 and groove 1 325, the bend between outer sidewall 331 and arched wall 2 332, and the bend between arched wall 2 332 and groove 2 333 are all arched.

[0025] To reduce contact between debris and steel balls in the cylinder 32 and the inner ring 33, thereby preventing damage to the steel balls, arched walls 324 and 332 are used to constrain the steel balls, preventing them from shifting in the rotational direction. Channels 325 and 333 collect debris; when debris appears in the rotating connector 3 during operation, it falls into channels 325 and 333, preventing the steel balls from being compressed and damaged. The cross-sections of arched walls 324 and 332 are in contact with the surface of the steel balls, reducing the resistance between the steel balls and arched walls 324 and 332, preventing damage due to excessive resistance. The arched shape at the bends also serves the same function.

[0026] When the rotating connector 3 is working, the inner ring 33 rotates, and the rotation of the inner ring 33 drives the steel ball to move, and the steel ball moves between the cylinder 32 and the inner ring 33.

[0027] The rotating connector 3 also includes: a plurality of annular protrusions 322, each installed in a nearby movable opening 321; and a plurality of annular protrusions 341, each fixedly connected to a nearby connecting rod 34, the annular protrusions 341 cooperating with the nearby movable opening 321.

[0028] To secure the connecting rod 34 and prevent it from being removed from the movable opening 321, both the first annular protrusion 322 and the second annular protrusion 341 are made of rubber. When the second annular protrusion 341 is inserted into the movable opening 321, it contacts the first annular protrusion 322. The second annular protrusion 341 then moves and presses against the first annular protrusion 322, causing both to change shape under pressure. This allows the second annular protrusion 341 to pass through the first annular protrusion 322, thereby securing the connecting rod 34.

[0029] When assembling the isolation plate 35, the multiple connecting rods 34 fixed to the isolation plate 35 are each aligned with the adjacent movable opening 321 and inserted into it, thereby completing the assembly of the isolation plate 35. When performing maintenance or repair on the rotating connector 3, it is only necessary to disassemble the isolation plate 35 and separate the connecting rods 34 from the movable opening 321.

[0030] The rotating connector 3 also includes: multiple constraint rods 36, all fixedly connected to the cylinder 32; and arched constraint platforms 37, the number of which is equal to that of the constraint rods 36. Each arched constraint platform 37 is constrained by its adjacent constraint rod 36. Display strips are installed on both the outer ring 31 and the cylinder 32 to mark the corresponding positions of the outer ring 31 and the cylinder 32.

[0031] To observe whether the steel ball can function, the arched constraint platform 37 is made of rubber. When the steel ball cannot function, the inner ring 33 rotates, causing other moving steel balls to move. The steel balls drive the retaining seat to rotate, and the retaining seat drives the immobile steel balls to move. At this moment, because the steel ball cannot move, the interaction between the steel ball and the cylinder 32 changes from rotational resistance to movement resistance, and the mutual resistance suddenly increases. At this moment, the steel ball drives the cylinder 32 to rotate, and the cylinder 32 drives the constraint rod 36 to rotate. The constraint rod 36 presses against the arched constraint platform 37, causing its shape to change. Subsequently, the constraint rod 36 passes through the arched constraint platform 37. When the cylinder 32 rotates, it drives the corresponding display strip to rotate, thereby causing the display strip on the cylinder 32 and the display strip on the outer ring 31 to be misaligned, thus demonstrating that this rotating connector 3 cannot be used.

[0032] Multiple constraint bars 38 are fixedly connected to the outer ring 31. The constraint bars 38 and the arched constraint platform 37 are located on both sides of the corresponding constraint rod 36, and the constraint bars 38 and the adjacent constraint rod 36 constrain each other.

[0033] To prevent the cylinder 32 from rotating in the opposite direction, the restraint bar 38 is made of stainless steel. When the steel ball moves, the cylinder 32 is subjected to a force opposite to the direction of the steel ball's movement. At this moment, the cylinder 32 drives the restraint bar 36 to move. Since the restraint bar 36 is blocked by the restraint bar 38, the cylinder 32 cannot rotate.

[0034] When the rotating connector 3 vibrates during operation, the inspection only needs to check whether a pair of display bars on the rotating connector 3 have shifted, instead of checking each rotating connector 3 individually, which greatly reduces the repair time. Example

[0035] The difference from the above embodiments is that the rotary connector 3 also includes a maintenance unit, which is installed on the cylinder 32 and the inner ring 33, for automatic maintenance of the rotary connector 3.

[0036] Reference Figures 9-12 The maintenance unit includes an oil storage chamber 39 pre-embedded in the inner wall of the cylinder 32, annular capillary channels 313 pre-embedded on both vertical sides inside the cylinder 32, pressure blocks 318 fixed to both vertical sides of the inner ring 33, and multiple oil spray capillary holes 319 pre-embedded on the arched wall 324. A rubber block 310 is movably installed in the oil storage chamber 39. The cavity to the left of the rubber block 310 in the oil storage chamber 39 is filled with engine oil. The oil storage chamber 39 and the rubber block 310 are compatible with each other. The bottom wall of the oil storage chamber 39 and the bottom wall of the rubber block 310 are connected by multiple spiral beryllium copper wires 311. The cavity to the left of the rubber block 310 in the oil storage chamber 39 is connected to the annular capillary channel 313 via a channel 314. A check switch 315 is installed in the channel 314. The check switch 315 allows the engine oil in the oil storage chamber 39 to flow into the annular capillary channel 313. The oil chamber 39 is located in the cavity on the left side of the rubber block 310 and is connected to the first channel 325 via the second channel 316. The second channel 316 is equipped with a check switch 317, which allows the oil in the first channel 325 to flow into the oil storage chamber 39 located in the cavity on the left side of the rubber block 310. A pair of pressure blocks 312 are mirror-mounted on both vertical sides of the rubber block 310. The pressure blocks 312 can move through the cylinder 32. Both sides of the end of the pressure blocks 312 that protrudes from the cylinder 32 have reserved inclined walls. Both sides of the pressure blocks 318 that face the cylinder 32 have reserved inclined walls. The inclined walls on the pressure blocks 312 and the corresponding inclined walls on the pressure blocks 318 cooperate with each other. The pressure blocks 312 are located on the rotation trajectory of the pressure blocks 318. The oil injection capillary orifice 319 is connected to the annular capillary channel 313. The oil injection capillary orifice 319 is inclined towards the steel ball.

[0037] Initially, the area of ​​channel 316 within channel 325 is also filled with engine oil. The amount of oil does not affect the normal operation of the rotating connector 3. When the inner ring 33 rotates, it drives the pressure block 318 to rotate. When the pressure block 318 rotates to contact the pressure block 312, it gradually squeezes the pressure block 312, causing the rubber block 310 to move towards the inside of the oil reservoir 39. This causes the left cavity of the oil reservoir 39 to expand and the right cavity to shrink, thereby drawing the engine oil from channel 325 into the left cavity of the oil reservoir 39. When the pressure block 318 moves away from the pressure block, the oil is completely drained from the channel. When block 312 is in operation, with the assistance of the spiral beryllium copper wire 311, the rubber block 310 is driven to move to the left, thereby compressing the oil in the left cavity of the oil reservoir 39. This causes the oil to flow through the check switch 315 in channel 314 into the annular capillary channel 313, and then be sprayed out through the oil spray capillary hole 319 connected to the annular capillary channel 313, spraying the oil onto the surface of the moving steel ball, thus achieving the maintenance of the steel ball. Excess oil will fall back to the bottom of the groove 325, facilitating subsequent oil spray maintenance. This realizes the self-maintenance function of the rotating connector 3 and extends the service life of the rotating connector 3.

[0038] It should be noted that during the installation of the rotary connector 3, the second channel 316 needs to be installed at the bottom of the rotary connector 3 to ensure that during operation, excess oil in the rotary connector 3 can fall into the second channel 316 and flow into the oil storage chamber 39.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A high-overturning, dual-wheel harmonic reducer structure with varying clearances, comprising a wave generator, characterized in that, A thin-walled flexible wheel is installed on the outside of the wave generator. The wave generator and the thin-walled flexible wheel are connected by a pair of rotating connectors. Rigid wheels S and D are installed on the outside of the thin-walled flexible wheel. Rigid wheels S and D are arranged side by side. Double rows of crossed rollers are installed on the outside of rigid wheels S and D.

2. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 1, characterized in that: The rotating connector includes: Outer ring; The cylinder is screwed into the outer ring, and an inner ring is installed inside the cylinder. Multiple steel balls and a retaining seat that constrains the steel balls are installed between the cylinder and the inner ring. The connecting rods are provided in multiple ways, and multiple movable ports are reserved on the cylinder. Each connecting rod is screwed into the adjacent movable port. The isolation plates are installed in pairs in a mirror image, with each isolation plate fixedly connected to multiple adjacent connecting rods; Multiple isolation ends are mirrored on both sides of the inner ring. Multiple isolation ends are installed on the side of the isolation plate closest to the inner ring. Multiple isolation ends 1 and multiple isolation ends 2 on the same side of the inner ring are arranged alternately. Both isolation ends 1 and isolation ends 2 are tilted towards the inside of the inner ring to prevent external debris from moving into the space between the cylinder and the inner ring. There are gaps between the isolation ends 2 and the inner ring, and between the isolation ends 1 and the isolation plate to remove the obstruction between the inner ring and the isolation plate. The rotary connector also includes: a ring-shaped protrusion, which is provided in multiple forms, each installed in an adjacent movable opening; Multiple annular protrusions are provided, each fixedly connected to an adjacent connecting rod, and the annular protrusions cooperate with the adjacent movable openings; The rotary connector also includes: multiple constraint rods, all fixedly connected to the cylinder; The number of arched constraint platforms is equal to the number of constraint rods, and each arched constraint platform is constrained by its own adjacent constraint rod. Multiple constraint bars are fixed to the outer ring. The constraint bars and the arched constraint platform are located on both sides of the corresponding constraint rod. The constraint bars and the adjacent constraint rods constrain each other. Display bars are installed on both the outer ring and the cylinder to mark the corresponding positions of the outer ring and the cylinder.

3. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 2, characterized in that: The inner wall and the inner ring are respectively equipped with inner side walls and outer side walls. Arched wall one and arched wall two are respectively installed on the inner side walls and the outer side walls. Ditch one and ditch two are reserved in the center of arched wall one and the center of arched wall two, respectively.

4. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 3, characterized in that: The arched surfaces of the cross-sections of Arch Wall 1 and Arch Wall 2 fit into the surface of the steel ball to increase the contact area between the steel ball and Arch Wall 1 and Arch Wall 2.

5. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 3, characterized in that: The bends between the inner wall and the arched wall, between the first arched wall and the ditch, between the outer wall and the second arched wall, and between the second arched wall and the second ditch are all arched.

6. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 3, characterized in that: The rotary connector also includes a maintenance unit, installed on the cylinder and inner ring, for automatic maintenance of the rotary connector.

7. The structure of a high-overturning, dual-grid harmonic reducer with different clearances according to claim 6, characterized in that: The maintenance unit includes an oil reservoir pre-installed in the inner wall of the cylinder, annular capillary channels pre-installed on both vertical sides inside the cylinder, pressure blocks two fixed to both vertical sides of the inner ring, and multiple oil spray capillary holes pre-installed on the arched wall one. A rubber block is movably installed in the oil reservoir. The cavity to the left of the rubber block in the oil reservoir is filled with engine oil. The oil reservoir and the rubber block are compatible with each other. The bottom wall of the oil reservoir and the bottom wall of the rubber block are connected by multiple spiral beryllium copper wires. The cavity to the left of the rubber block in the oil reservoir is connected to the annular capillary channels through channel one. A check switch one is installed in channel one, which allows the engine oil in the oil reservoir to flow into the annular capillary channels. The oil reservoir is located in the cavity on the left side of the rubber block and is connected to the first channel via the second channel. The second channel is equipped with a check switch, which allows the oil in the first channel to flow into the cavity on the left side of the rubber block. A pair of pressure blocks are mirror-mounted on both sides of the vertical sides of the rubber block. The pressure blocks are movable and penetrate the cylinder. Both sides of the pressure block 1 that protrudes from the cylinder have pre-reserved inclined walls. Both sides of the pressure block 2 that face the cylinder have pre-reserved inclined walls. The inclined walls on the pressure block 1 and the corresponding inclined walls on the pressure block 2 cooperate with each other. The pressure block 1 is on the rotation trajectory of the pressure block 2. The oil injection capillary orifice is connected to the annular capillary channel. The oil injection capillary orifice is inclined towards the steel ball.

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